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Datei: test.vdmsl Sprache: VDM

Original von: VDM^©

\begin{vdm_al}

module TEST

imports from SAFER all,
        from HCM all,
        from TS all,
        from AUX all,
from GEOM
   operations
    InitGeom : () ==> ();
    ShowThrust : seq of seq of char ==> (),


   from GUI

    operations
      GetCommand : ()  ==> seq of seq of char;
      GUI_Init_Tcl : () ==> ()

  exports all

definitions

values

  switches_tran_up = mk_HCM`SwitchPositions(<Tran>,<Up>);

  switch_positions : set of HCM`SwitchPositions =
    {mk_HCM`SwitchPositions(mode,aah) |
       mode in set {<Tran>,<Rot>}, aah in set {<Up>,<Down>}};

  zero_grip : HCM`HandGripPosition = mk_HCM`HandGripPosition(<Zero>,<Zero>,
                                                             <Zero>,<Zero>);

  all_grip_positions : set of HCM`HandGripPosition =
    {mk_HCM`HandGripPosition(vert,horiz,trans,twist) |
     vert, horiz, trans, twist in set AUX`axis_command_set};

  all_rot_commands : set of AUX`RotCommand =
    {{<Roll> |-> a, <Pitch> |-> b, <Yaw> |-> c} |
     a, b, c in set AUX`axis_command_set};

  grip_positions : set of HCM`HandGripPosition
    =
    {mk_HCM`HandGripPosition(vert,horiz,trans,twist) |
     vert, horiz, trans, twist in set AUX`axis_command_set &
     vert = <Zero> and horiz = <Zero> and trans = <Zero> or
     vert = <Zero> and horiz = <Zero> and twist = <Zero> or
     vert = <Zero> and trans = <Zero> and twist = <Zero> or
     horiz = <Zero> and trans = <Zero> and twist = <Zero>};

  possibilities -- total of 972 cases
    : set of (HCM`SwitchPositions * HCM`HandGripPosition * AUX`RotCommand)
    =
    {mk_(switch,grip,aah_law) |
       switch in set switch_positions, grip in set grip_positions,
       aah_law in set all_rot_commands}

functions

  BigTest: () ->
    map (HCM`SwitchPositions * HCM`HandGripPosition * AUX`RotCommand) to
        TS`ThrusterSet
  BigTest() ==
    {mk_(switch,grip,aah_law) |-> SAFER`ControlCycle(switch,grip,aah_law) |
     switch in set switch_positions, grip in set grip_positions,
     aah_law in set all_rot_commands};

   HugeTest: () ->
     map (HCM`SwitchPositions * HCM`HandGripPosition * AUX`RotCommand) to
         TS`ThrusterSet
   HugeTest() ==
   {mk_(switch,grip,aah_law) |-> SAFER`ControlCycle(switch,grip,aah_law) |
    switch in set switch_positions, grip in set all_grip_positions,
    aah_law in set all_rot_commands};

  ConvertAxisCmd: seq of char -> AUX`AxisCommand
  ConvertAxisCmd(str) ==
    cases str:
      "neg" -> <Neg>,
      "pos" -> <Pos>,
      "zero" -> <Zero>,
      others -> undefined
    end;

  ConvertTIds: TS`ThrusterSet +> seq of seq of char
  ConvertTIds(ts) ==
    if ts = {}
    then []
    else let t in set ts
         in
    [ConvertTId(t)]^ ConvertTIds(ts\{t});

  ConvertTId: TS`ThrusterName +> seq of char
  ConvertTId(tnm) ==
    cases tnm:
       <B1>  -> "B1",
       <B2>  -> "B2",
       <B3>  -> "B3",
       <B4>  -> "B4",
       <F1>  -> "F1",
       <F2>  -> "F2",
       <F3>  -> "F3",
       <F4>  -> "F4",
       <L1R> -> "L1R",
       <L1F> -> "L1F",
       <R2R> -> "R2R",
       <R2F> -> "R2F",
       <L3R> -> "L3R",
       <L3F> -> "L3F",
       <R4R> -> "R4R",
       <R4F> -> "R4F",
       <D1R> -> "D1R",
       <D1F> -> "D1F",
       <D2R> -> "D2R",
       <D2F> -> "D2F",
       <U3R> -> "U3R",
       <U3F> -> "U3F",
       <U4R> -> "U4R",
       <U4F> -> "U4F"
     end;

operations

  StartTest: () ==> ()
  StartTest() == ( GUI`GUI_Init_Tcl();
                   GEOM`InitGeom() );

  RunTest: () ==> bool
  RunTest() ==
   let cl = GUI`GetCommand()
   in
     if cl = []
     then return false
     else let [mode,aah,horiz,trans,vert,twist,roll,pitch,yaw] = cl,
              ts = SAFER`ControlCycle(
                    mk_HCM`SwitchPositions(
                     if mode = "translation" then <Tran> else <Rot>,
                     if aah = "1" then <Up> else <Down> ),
                   mk_HCM`HandGripPosition(ConvertAxisCmd(vert),
                                           ConvertAxisCmd(horiz),
                      ConvertAxisCmd(trans),ConvertAxisCmd(twist)),
                   {<Roll> |-> ConvertAxisCmd(roll),
                    <Pitch> |-> ConvertAxisCmd(pitch),
                    <Yaw> |-> ConvertAxisCmd(yaw)})
  in
    (GEOM`ShowThrust(ConvertTIds(ts));
            return true );


  Loop : () ==> ()
  Loop() ==
  (
    StartTest();
    while RunTest() do skip;
    GEOM`ShowThrust(["stop"])
  );

  Move: () ==> ()
  Move() ==
   GEOM`ShowThrust(["move"]);

  NoMove: () ==> ()
  NoMove() ==
   GEOM`ShowThrust(["nomove"]);

end TEST

\end{vdm_al}
\stopline

\newpage
\section*{Test Coverage}

\begin{rtinfo}{safer.vdm.ts}
\end{rtinfo}

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